"Peizheng Yuan","Design and Control of Single and Parallel Soft Pneumatic Helical Deformation Actuators",,,,,,,2023,Sept. "Peizheng Yuan","Design and Control of Single and Parallel Soft Pneumatic Helical Deformation Actuators",,,,,,,2023,Sept. "Peizheng Yuan","Design and Control of Single and Parallel Soft Pneumatic Helical Deformation Actuators",,,,,,,2023,Sept. "Peizheng Yuan","Design and Control of Single and Parallel Soft Pneumatic Helical Deformation Actuators",,,,,,,2023,Sept.